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AMCL localizers: robot_pose carries the robot's velocity - #162
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The AMCL localizers (costmap, navmap, simple) and MH-AMCL published robot_pose with a zero twist, so whatever read it took the robot as stopped. It is now the odometry's velocity; with compute_odom_from_tf, from the motion between TF samples. Fixes #161 Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
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Fixes #161
The twist of
robot_poseis now the robot's velocity (robot frame) instead of zero, in the AMCL localizers (costmap, navmap, simple) and MH-AMCL:compute_odom_from_tf: from the motion between consecutive odom → robot TF samples. The same sample again (TF slower than the cycle) keeps the previous value.Tests
One test per localizer: no odometry yet is stopped; the topic's velocity, turning in place included; from TF (navmap, costmap, MH-AMCL): moving, the same sample again, turning in place and stopped.